modular robot design
Posted inMechanical

Mechanical & Wheels – Hands On Ground Robot Design

This post is part of the Hands on Ground Robot Design series. See here for the full list of posts/topics http://robotsforroboticists.com/hands-on-ground-robot--drone-design-series for information on mechanical, electrical, motion control, computing, sensors, and more. Robot Size Decision After we have the list of system requirements we start with the design of the mechanical structure of the robot. In this case we decided…
Marsokhod 6x6 is completely articulated in pitch, roll and yaw.
Posted inMechanical

Drive Selection – Wheels, tracks and more

In the past we have looked at wheel design and the kinematics of skid steer and mecanum wheels. In this post we will take a quick look at different types of mobility types (ie. wheels, tracks, and how to connect them) for drive selection. I know the items in this list are not direct comparisons. For example listing rocker bogie…
drive kinematics
Posted inSoftware & Algorithms

Drive Kinematics: Skid Steer & Mecanum (ROS Twist included)

Hi all I am often in need of the basic kinematic motion equations for skid steer vehicles. I have also recently been working with mecanum wheeled vehicles. The skid steer equations are fairly simple and easy to find, however I will include it in different versions and include a ROS approach. The mecanum wheel equations are harder to find and…